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深空探测器软着陆过程中发动机未能正常关闭将极大降低其软着陆稳定性,因此引入了触地关机着陆方案。针对触地关机方案,建立了腿式探测器动力学分析模型及发动机推力控制模型。考虑着陆环境与探测器着陆状态的不确定性,采用蒙特卡洛方法分别对探测器在主发动机关闭失败时、触地关机着陆方案下、带有姿态控制的触地关机着陆方案下的软着陆稳定性进行了分析。采用描述性采样方法抽取样本点,基于均值估计相对误差建立模拟终止准则,在保证模拟精度的前提下提高蒙特卡洛模拟效率。计算并对比了三种着陆方式下探测器软着陆可靠度,触地关机方案可在主发动机关闭失败后将探测器稳定着陆可靠度提升22.8%,姿态控制的引入可进一步将安全着陆的可靠度提升9.7%。
The failure of the engine to close normally during soft landing of deep space probes will greatly reduce the stability of its soft landing and therefore introduce a touchdown landing approach. Aimed at the scheme of touchdown power off, the dynamic analysis model of legged detector and the thrust control model of the engine were established. Considering the uncertainty of landings and detector landing conditions, Monte Carlo method was used to simulate the soft landing of the detector in the event of failure of the main engine, ground-based landing and ground-based touchdown landing with attitude control Stability was analyzed. The descriptive sampling method was used to extract the sample points, and the simulation termination criterion was established based on the relative error of the mean estimation. The Monte-Carlo simulation efficiency was improved under the premise of ensuring the accuracy of simulation. Computation and comparison of three kinds of landing soft landing reliability of the probe, the touchdown program can shut down the failure of the main engine will enhance the stability of the detector landing reliability 22.8%, the introduction of attitude control can be further safety landing reliability Upgrade 9.7%.